• Structural Engineering and Mechanics
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• 제46권2호
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• pp.269-294
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• 2013

This paper is concerned with the determination of exact buckling loads and vibration frequencies of variable thickness isotropic plates using well known finite difference technique. The plates are subjected to uni, biaxial compression and shear loadings and various combinations of boundary conditions are considered. The buckling load is found out as the in plane load that makes the determinant of the stiffness matrix equal to zero and the natural frequencies are found out by carrying out eigenvalue analysis of stiffness and mass matrices. New and exact results are given for many cases and the results are in close agreement with the published results. In this paper, like finite element method, finite difference method is applied in a very simple manner and the application of boundary conditions is also automatic.

• Journal of Mechanical Science and Technology
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• 제14권10호
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• pp.1081-1088
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• 2000

In this paper, a compliance control strategy for robot manipulators that employs a self-adjusting stiffiness function is proposed. Based on the contact force, each entry of the diagonal stiffness matrix corresponding to a task coordinate in the operational space is adaptively adjusted during contact along the corresponding axis. The proposed method can be used for both the unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results involving a two-link direct drive manipulator interacting with an unknown environment demonstrates the effectiveness of the proposed method.

• 한국정밀공학회지
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• 제15권6호
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• pp.145-152
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• 1998

This paper presents an optimum design of a rotor-bearing spindle system for a ultra centrifuge (80,000 RPM) supported by ball bearings with nonlinear stiffness characteristics. To obtain the nonlinear bearing stiffnesses, a ball bearing is modeled in five degrees of freedom and is analyzed quasi-statically. The dynamic behaviors of the nonlinear rotor-bearing system are analyzed by using a transfer-matrix method iteratively. For optimization. we use the cost function that simultaneously minimizes the weight of a rotor and maximizes the separation margins to yield the critical speeds as far from the operating speed as possible. Augmented Lagrange Multiplier (ALM) method is employed for the nonlinear optimization problem. The result shows that the rotor-bearing spindle system is optimized to obtain 9.5％ weight reduction and 21％ separation margin.

• 한국농공학회지
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• 제45권2호
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• pp.68-77
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• 2003

Shell structure are widely used in a variety of engineering application and mathematical solution of shell structures are available only for a few special cases. The solution of shell structure is more complicated when it has such condition as winker foundation, variable thickness and other problem. In this paper, a simple finite element method is presented for the analysis of axisymmetric several types of shell structure subjected to axisymmetric loads and having uniform and varying wall thickness on elastic foundation. The method is based on the analogy with a beam on elastic foundation (BEF), foundation stiffness matrix where the foundation modulus and beam flexural rigidity are replaced by appropriate parameters pertaining to the shell under considerations. The technique is attractive for implementation on a numerical solution by means of a computer program coded in FORTRAN language with a few elements. To demonstrate this fact, it gives good results which compare well with SAP2000.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.386-391
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• 2001

In this paper, the vibration characteristics of IHTS(Intermediate Heat Transfer System) piping system of LMR(Liquid Metal Reactor) conveying hot liquid sodium are investigated to eliminate the pipe supports for economic reasons. To do this, a 3-dimensional straight pipe element and a curved pipe element conveying fluid are formulated using the dynamic stiffness method of the wave approach and coded to be applied to any complex piping system. Using this method, the dynamic characteristics including the natural frequency, the frequency response functions, and the dynamic instability due to the pipe internal flow velocity are analyzed. As one of the design parameters, the vibration energy flow is also analyzed to investigate the disturbance transmission paths for the resonant excitation and the non-resonant excitations.

• 로봇학회논문지
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• 제17권3호
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• pp.347-352
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• 2022

The paper presents how to update impedance control parameters for dual-arm manipulators using EMG signals and motions of the operator. Since the hand motions of the dual-arm are modeled to be the mass-spring-damper system in this paper, the impedance parameter update method is an important issue to reflect the operator's force. However, task space inertia to be used as the mass parameter goes to infinity if the manipulator approaches a kinematic singularity. To alleviate this issue, the impedance (stiffness and damping) parameters are divided with a diagonal element of the task space inertia. Also, the stiffness and damping matrices are updated using the normalized EMG signals captured from the operator's forearm. Through this process, the motion of the dual-arm manipulator is more stabilized even though it approaches the kinematic singularity.

• Journal of Welding and Joining
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• 제21권2호
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• pp.50-56
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• 2003

Metal matrix composites(MMC) consist of metal matrix into which is distributed a second solid phase. The normal intension is to develop a material with superior mechanical properties (for example increased toughness, stiffness and wear resistance) compared to those inherent in the matrix component. In this study, WC-12%Co/low carbon steel MMC overlays have been prepared by Gas Metal Arc Welding(GMAW) according to feeding rate of WC-12%Co grit. The macro and microstructures were examined using optical microscopy (OM) and scanning electron microscopy(SEM) each other. The characteristics of hardness and wear resistance have been investigated. WC-12%Co/low carbon steel MMC overlays which have been taken good beads without porosity and cracks were manufactured by method of GMAW. Matrix of overlayed surface was seen as fish bone and faceted dendrite structures. It was known that structures were iron tungsten carbides, Fe$_{6}$W$_{6}$C which have been occurred by melting of WC-12%Co grits. After MMC had been tested by block-roll wear test it was known that WC-12%Co/low carbon steel MMC has a excellent wear resistance by exiting Fe6w6c and WC-12%Co grit. The consequence was that region of overlay with Fe$_{6}$W$_{6}$C phase has been showed a model of adhesive wear, but region of overlay with WC-12%Co grit was restrained as a result of mechanism that wear of WC-12%Co grit is not adhesive but fracture.racture.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1989년도 봄 학술발표회 논문집
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• pp.17-21
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• 1989

SSI2D/3D is a computer program to calculate dynamic stiffness matrix of the foundation for soil-structure-interaction problem in frequency demain. It is written in FORTRAN 77 and applicable to two or three dimensional situations. In this paper the program structure is summarized. Two examples aye shown to demonstrate the possibilities of the Boundary Element Method applied to dynamic problems in infinite domains.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.312-317
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• 1997

This paper present an optimum design for the rotor-bearing system of a high-speed (80000RPM) ultra-centrifuge supported by ball bearings with nonlinear stiffness characteristics. To obtain the nonlinear bearing stiffnesses, a ball bearing is modelled in five degrees of freedom and is analyzed quasi-statically. The dynamic behaviors of the nonlinear rotor-bearing system are analyed by using a transfer-matrix method iteratively. For optimum design, minimizing the weight of a rotor is used as a cost function and the Augmented Lagrange Multiplier (ALM) method is employed. The result shows that the rotor-bearing system is optimized to obtain 8% weight reduction.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.267-272
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• 2004

Vertical pump are widely used owing to the fact that they occupy small floor space. In this type of pumps, however, the vibrational problems are very important, since, in many cases, they have less stiffness in comparison with later pumps. This study presents a simple solution method for calculating the natural frequencies and modes of vertical pumps. In this study, a model of a vertical pump was developed and the nondimensional parameters for the vibrational characteristics of it were determined. Added mass was calculated for the effects of water and the transfer matrix method was used.